Lecture 1: Introduction to Smart Materials and Systems and ...yyaman/EPrasad2012/2012 METU... · Shape Memory Alloys (SMAs)-Applications Automobile Transmissions Control of automatic

• Lecture 1: Introduction to Smart Materials and Systems

• Lecture 2: Sensor technologies for smart systems and their evaluation criteria.

• Lecture 3: Actuator technologies for smart systems and their evaluation criteria.

• Lecture 4: Piezoelectric Materials and their Applications.

• Lecture 5: Control System Technologies.

• Lecture 6: Smart System Applications.

S. Eswar Prasad, Adjunct Professor, Department of Mechanical & Industrial Engineering,Chairman, Piemades Inc,

⎋ Piemades, Inc.

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Actuators for Smart System Applications

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⎋ Piemades, Inc.

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• Shape Memory Alloys

• Magnetostrictive Materials

• Piezoelectric & Electrostrictive Materials

• Electrorheological & Magnetorheological

Fluids

• Selection of Actuator Materials

Actuator Materials

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Shape Memory Alloys (SMAs)

Smart Materials Demo http://www.youtube.com/watch?v=VU-dChOfkAg

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http://www.youtube.com/watch?v=VU-dChOfkAg

http://www.youtube.com/watch?v=VU-dChOfkAg

• The term ‘shape-memory’ is used to describe the ability of a material to regain its original shape when heated to a higher temperature, after being deformed at a lower temperature.

• The shape-memory effect occurs in a number of alloys, which undergo a special type of phase transformation called the ‘thermoelastic martensite transformation’.


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• SMAs are useful for actuators as they change shape, stiffness, position, natural frequency, and other mechanical characteristics in response to temperature or electromagnetic fields. The diverse applications for these metals have made them increasingly important

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• Alloy families that exhibit shape memory effect

copper-aluminum-nickel

copper-zinc-aluminum

iron- manganese-silicon

nickel-titanium (nitinol)

• Nickel-titanium alloys have been found to be the most useful of all SMAs.

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• Transformation Strain

for a single cycle max 8%

for 100,000 cycles 4%

• Hysteresis 30 to 50 deg. C

• Mechanical Properties ( Young's Modulus)

austenite 83 GPa (12E6 psi)

martensite 28 to 41 GPa (4E6 to 6E6 psi)

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Shape Memory Alloys (SMAs)-

Electrical and Magnetic Properties

• Resistivity

austenite 100 micro-ohms * cm

martensite 80 micro-ohms * cm

• Magnetic Permeability < 1.002

• Magnetic Susceptibility 3.0E6 emu/g

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Applications

Automobile TransmissionsControl of automatic transmissions in cold weather due to change in oil viscosity.

Shock AbsorbersImprove low temperature properties of shock absorbers.

Small PumpsLaser controlled shape-memory alloy actuators drive a cantilever beam that operates a pump.

Window OpenersGreenhouse window openers - when the temperature rises, the window is automatically opened.

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AutomotiveBi-directional grill louver mechanism; Fuel tank door release mechanism; Trunk, glove compartment release mechanism.

AerospacePayload release device; Door latch release Instrument latch release, Bypass switches

MedicalPumps and valves, Micro fluid array pumps, Latch releases

ConsumerGreenhouse window openers; Memory card ejectors, Security locks and doors.


Applications

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Application of Shape Memory Alloys

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SMA Actuator Application to robotics

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Application of Shape Memory Alloys

Applied VoltageRes

pons

e T

ime

mse

c

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Shape Memory Alloys (SMAs)-Applications

This model has an electrically heated NiTi actuator. Movement of a NiTi wire causes the wings to move.

University of Wisconsin (Materials Research Science & Engineering Centre)

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Shape Memory Alloys (SMAs)-Applications

NiTi is used to make medical devices such as the cardiovascular stents shown here. The superelastic "springy" property that this alloy exhibits above its transformation temperature (body temperature) is shown in the movie. These devices are very resilient even when severely compressed because of the superelastic property of NiTi.

University of Wisconsin (Materials Research Science & Engineering Centre)

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• Electrorheological & Magnetorheological Fluids


Actuator Materials

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• "smart" magnetic materials have high magnetostriction constants, which mean they change length when placed in a magnetic field.

• This property can be utilized in smart systems in switches or sensors.

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Smart Magnetic Materials

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Smart Magnetic Materials could be divided according to various criteria.

One of the possible classifications distinguishes the following SMM types:

• Materials of fixed internal structure:

solid magnetostrictive materials, including those with giant

magnetostriction

Metal, Ceramic and Polymeric Composites

Elastomers filled with ferromagnetic material powders (e.g.

carbonyl iron, GMM or their combination), polymers on the

epoxy resin base containing powdered ferromagnetic materials,

Solid magnetocaloric materials.

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Smart Magnetic Materials could be divided according to various

criteria. One of the possible classifications distinguishes the following

SMM types:

• Materials of variable internal structure

MagnetoRheological Fluids - MRF

FeRroFluids – FRF

Porous materials saturated with magnetorheological fluids

fluids with powdered magnetocaloric materials.

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Magnetostrictive Actuators

• Magnetostriction is a transduction process in which electrical energy is converted to mechanical energy.

• Magnetostrictive materials exhibit a change in dimension when placed in a magnetic field. This is a result of a re-orientation of the magnetic domains, which produces internal strains in the material.

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• Giant Magnetostrictive Materials (GMM) such as Rare earth-iron feature magnetostrains two orders of magnitude larger than Nickel.

• Terfenol-D [Tb0.3Dy0.7Fe1.9] is a commercially available material for use at room temperature.

• Positive magnetostrains of 1000 to 2000 ppm (0.1-0.2%) with fields of 50 to 200 kA/m are reported for Terfenol.

• Recently, the family of smart magnetic materials has also been extended with Magnetic Shape Memory Materials (MSM) such as NiMnGa alloys offering a magnetostrain of up to 6%.

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Magnetostrictive Actuators -What is Terfenol-D

• Terfenol-D is an alloy of terbium, dysprosium, and iron metals and has the largest room temperature magnetostriction of any known material.

• The name Terfenol-D comes from the metallic elements; terbium (TER), iron (FE), Naval Ordnance Labs (NOL), and Dysprosium (-D). NOL (US Navy) developed the material.

• Terfenol-D is a solid-state transducer capable of converting very high energy levels from one form to another. In the case of electrical-to-mechanical conversion, the magnetostriction of the material generates strains 100 times greater than traditional magnetostrictives, and 2-5 times greater than traditional piezoceramics. The material has a high Curie temperature (380 C), which enables magnetostrictive performance greater than 1000 ppm from room temperature to 200 C.

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Magnetostrictive Materials - Terfenol-D

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Magnetostrictive Actuators - Properties of Terfenol-D

Properties Terfenol-D*

Force GenerationStrainBandwidth

50 MPa0.6%< 1 kHz

HysteresisCoupling FactorDensity

~ 10%0.70 to 0.759,250 kg/m3

Young’s ModulusTensile StrengthCompressive StrengthCurie Tem[eprature

2.5 -3.5 x 1010 N/m3

28 MPa700 Mpa3800C

* Etrema Products

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• Forces: Magnetostrictive actuators can offer large forces and are available as rods with large section (more than 50mm in diameter).

• Stroke: Stroke is governed by the expansion of the active rod and by its length (up to 200mm). Stroke can also be further amplified using mechanical shells.

• Voltage: The excitation voltage can be adjusted using the number of turns on the coil. With high current and large section wires, the required magnetic field can be produced with a low voltage (less than 12V if needed).

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VrmS

DP

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Magnetostrictive Actuators - Applications

• Petroleum /Oil & Gas

• Active noise and vibration cancellation

• Sonar

• Fuel injection

• Medical

• Nozzle anti-clogging system (Paper)

• Screening Applications

• Metals Casting Industry

• Fast tool servo (Machining)

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http://www.etrema-usa.com/industries/detail.cfm?id=fuel

http://www.etrema-usa.com/industries/detail.cfm?id=fuel

http://www.etrema-usa.com/industries/detail.cfm?id=screening

http://www.etrema-usa.com/industries/detail.cfm?id=screening

http://www.etrema-usa.com/industries/detail.cfm?id=metals

http://www.etrema-usa.com/industries/detail.cfm?id=metals

http://www.etrema-usa.com/industries/detail.cfm?id=servo

http://www.etrema-usa.com/industries/detail.cfm?id=servo


Sonar TransducersVery high power transducers at frequencies of 1 kHz and lower. Of interest to navy for long-range transmission and communication applications.

Hydraulic ValvesHigh speed valves, operating at frequencies of 1 kHz, displacement of 3 mm at 300 Hz. Can generate pressure changes of 100 psi at 2,000 psi operating pressures.

Inchworm MotorsMotors can generate 12 Nm of torque directly at 0.5 rpm. Applications in low frequency acoustic transducers, pumps and mechanical systems.

Helicopter RotorsPotential application in active control of vibration in trailing edge flaps by modifying their shape.

J.R. Oswin, R.J. Edenborough and K.Pitman, Aerospace Dynamics, 1988; F. Claeyssen, and D. Boucher, Undersea Defence Technologies, 1991.

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Feonic Technology

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• Electrorheological & Magnetorheological

Fluids


Actuator Materials

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Electrorheological Actuators

• Rheology is the science of the flow and deformation of matter, i.e., the response of the matter to a force or stress.

• The viscous properties or a fluid’s resistance to flow can be altered or modified in an electrorheological (ER) fluid through the application of an electric field.

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• ER materials exist in a wide variety of colloidal suspensions of dielectric solids in non-conducting liquids.

• In the absence of electric field, the colloidal suspension is composed of fine particles (0.1 - 1.0µm) which are uniformly distributed throughout the field.

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• When an electric field is applied, the dielectric properties of the particles causes them to align with the electric field and causes them to adhere to adjacent particles which join to form fibrils.

• The presence of these fibrils considerably modifies the viscosity of the fluid (by as much as a factor of 50).

• The alignment disappears when the electric field is removed, thus creating the desired property of complete cyclic reproducibility.

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Electrorheological Fluids

ER fluids are able to change their properties through the application of an electric field. Response time is typically a millisecond.

Fluidicon

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ER valve and shock absorber concepts

Flu

idic

on

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Electrorheological Actuators Applications

Tuneable shock absorbers and their use in sports equipment.

Flu

idic

on

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http://www.youtube.com/watch?v=44430l_VkGs

http://www.youtube.com/watch?v=F7-i6GulA6I

Alignment of particles under an electric field.

Demonstration of electrorheological effect.

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LID3354s– Technical Information Sheet,Smart Technology Ltd

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Electrorheological Actuators - Shock Absorber

K.D. Weiss and J.D. Carlson, ‘Material aspects of electrorheological systems’, Advances in Electrorheological Fluids, pp30-52, 1994, Technomic Publishing Company.

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Electrorheological Actuators - Clutch

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Device Mode Release mechanisms

Shear ModeClutches - ER fluid mechanically couples two surfaces by increasing or decreasing its viscosity with the application or removal of an electric field.

Damping DevicesShock Absorbers - ER fluid operates in shear (fluid under strain) or extensional configuration (fluid under compressional stress).

Variable FlowFlow is controlled by adjusting the viscosity of fluid as it moves through a porous electrode separating the two chambers

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Magnetorheological Actuators

This part of the presentation has been adapted from Lord Corporation Presentation Magnetorheological Technology and its Applications, 2007.

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Magnetorheological Fluid Components

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Magnetorheological Actuators - Advantages

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Magnetorheological Fluid Applications

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Magnetorheological Fluid Applications

Lord Corporation Video

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• Electrorheological & Magnetorheological Fluids


Actuator Materials

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Smart Systems

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Smart Systems

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Actuator Technologies

Type Material Driving Energy Material Form

Shape Memory Nitinol T, S Strip, Spring, Tube

Magetostriction Terfenl-D H Rod, Stack, Wire

Electroreological/Magnetorheological Colloidal Suspensions E, H Viscous Liquid

Piezoelectric/Electrostrictive

Barium TitanateLead Zirconate Titanate

Lead Magnesium Niobate

E, S Disc, Plate, Stack, Tube, Cylinder

T - Thermal Energy, S - Mechanical Strain, H - Magnetic Field, E - Electric Field,

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Actuator Technologies - Performance Factor based Selection Criteria

Performance Factor

Shape Memory Alloys Magnetostrictive Piezoelectric

Electrostrictive

Linear Displacement High Moderate Moderate

Linear Force Low Moderate High

Weight Moderate High Moderate

Volume Moderate High Moderate

Cost Moderate High High

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Actuator Technologies - Performance Factor based Selection Criteria

Performance Factor

Shape Memory Alloy

Magentostrictive Piezoelectric/Electrostrictive

Displacement (Bending)

High Moderate High

Force (Bending) Low Low Moderate

Weight Low High Low

Volume Low High Low

Cost Moderate High Low

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Actuator Technologies - Comparison of Properties

Technology Displacement Force HysteresisFrequency

Range

Shape Memory Alloys

500 μm(L=5 cm)

500 N 10-30 % < 5 kHz

Magnetostrictive 100 μm 1,100 N ~ 10% < 4 kHz

Electrostrictive 65 μm 9,000 N 1 - 4 % < 1 kHz

Piezoelectric100 μm

(L= 5 cm)20,000 N 8 -15 % < 30 kHz

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Actuator Technologies - Comparison of Properties

Technology StrainStrength (Mpa)Strength (Mpa) Operating

Temperature Range

Technology StrainTensile Compressive

Operating Temperature

Range

Shape Memory Alloys

5% (two-way) 900 -1,500 -Up to 4000C

(Thermal Actuation)

Magnetostrictive200 με1 kA/m

28 700Up to 3000C(Tc=3800C)

Electrostrictive1,500 με1 MV/m

11.7 30000-300C

(Tc)

Piezoelectric1,000 με1MV/m

75.8 (Static)27.6 (Dynamic)

> 500-200 - 2500C(Tc=3650C)

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• Lecture 1: Introduction to Smart Materials and Systems

• Lecture 2: Sensor technologies for smart systems and their evaluation criteria.

• Lecture 3: Actuator technologies for smart systems and their evaluation criteria.

• Lecture 4: Piezoelectric Materials and their Applications.

• Lecture 5: Control System Technologies.

• Lecture 6: Smart System Applications.


⎋ Piemades, Inc.

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Documents

Lecture 1: Introduction to Smart Materials and Systems and ...yyaman/EPrasad2012/2012 METU... · Shape Memory Alloys (SMAs)-Applications Automobile Transmissions Control of automatic